Research of Driver Assistance System for Recovering Vehicle Stability from Unstable States

Recently, the direct yaw-moment control system, in which braking or driving torque is distributed appropriately to the tires on either side, has been put to practical use. Such systems are called VDC or VSC, and are available on the market. These systems aim to prevent the vehicle from falling into an unstable state, but cannot bring a destabilized vehicle back to a stable state. On the other hand, it is a well-known fact that highly skilled drivers are capable of steering a destabilized vehicle back into control. In this paper, we propose a driver-assistance system that automatically steers the front wheels in order to recover a vehicle that is spinning out. When a vehicle enters a tailspin, the system takes over the steering. Once the vehicle recovers, control is given back to the driver. The issue of how to return control from automatic to manual is of particular interest.